CN208412073U - A kind of tuning driving mechanism for Intelligent Underwater Robot - Google Patents
A kind of tuning driving mechanism for Intelligent Underwater Robot Download PDFInfo
- Publication number
- CN208412073U CN208412073U CN201820496519.7U CN201820496519U CN208412073U CN 208412073 U CN208412073 U CN 208412073U CN 201820496519 U CN201820496519 U CN 201820496519U CN 208412073 U CN208412073 U CN 208412073U
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- drive motor
- tuning
- blade
- slide bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of tuning driving mechanism for Intelligent Underwater Robot, including secondary tuning drive motor, the external thread rod being fixed on secondary tuning drive motor output shaft is arranged, has and the flexible slide bar of the inner bolt hole of external thread rod adaptation and the transmission shackle member that flexible slide bar outer end is arranged in；The two side ends of transmission shackle member are respectively provided with a card slot.The utility model has the effect of positive: two external equipments can be driven to rotate using two card slots are synchronous.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of tuning driving for Intelligent Underwater Robot
Mechanism.
Background technique
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
Existing underwater robot is mostly to increase mobile module under water on the basis of video camera, to complete autonomous move
Dynamic or controlled movement, but the driving direction of its driving mechanism is limited, cannot arbitrarily change driving direction under water.
Utility model content
The purpose of the utility model is to provide one kind can synchronize driving two external equipments rotation under intelligent water
The tuning driving mechanism of robot.
Realizing the technical solution of the utility model aim is: a kind of tuning driving mechanism for Intelligent Underwater Robot,
Including secondary tuning drive motor, the external thread rod being fixed on secondary tuning drive motor output shaft is arranged, has and outer spiral shell
The flexible slide bar of the inner bolt hole of rasp bar adaptation and the transmission shackle member that flexible slide bar outer end is set；It is driven the two sides of shackle member
End is respectively provided with a card slot.
The utility model has the effect of positive: two external equipments can be driven to rotate using two card slots are synchronous.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of the utility model；
Fig. 2 is a kind of schematic perspective view using underwater robot made of the driving mechanism of tuning blade shown in Fig. 1；
Fig. 3 is that underwater robot shown in Fig. 2 removes a kind of schematic perspective view after upper cover；
A kind of schematic perspective view of blade driver in the driving mechanism of tuning blade shown in Fig. 4；
Fig. 5 is a kind of explosive view of blade driver shown in Fig. 4；
Fig. 6 is a kind of schematic perspective view of the robot shown in Fig. 2 when principal plane rotates；
Fig. 7 is a kind of schematic perspective view of the robot in secondary Plane Rotation shown in Fig. 6.
Appended drawing reference are as follows: shell 1, hemispherical observation window 11, sealing slide opening 12, upper cover 13, tuning blade driving mechanism 3,
Blade driver 4, sealing room 41, power supply 42, blade 43, protective cover 44, blade drive motor 45, seal chamber 46, mounting portion 47,
Driving section 48 is driven protrusive board 481, and secondary rotation section 49, slideway portion 491, sliding slot 4911, nut 4912 limits slide opening 492, secondary to turn
Axis installation part 493, slider body portion 4931, anticreep projected board 4932, positioning convex platform portion 4933, axis hole 4934, auxiliary spindle 494,
Spring 495, homophony is to driving mechanism 5, and homophony is to drive motor 51, driving gear 52, driven gear 53, drive rod 54, bracket
55, secondary tuning driving mechanism 6, secondary tuning drive motor 61, external thread rod 62, flexible slide bar 63, transmission shackle member 64, card slot
641；Cleaning agency 7, semi-circular support plate 71, cleaning brush 72.
Specific embodiment
(embodiment 1)
The present embodiment is a kind of tuning driving mechanism for Intelligent Underwater Robot, as shown in Figure 1, the tuning driving machine
Structure 6 includes that secondary tuning drive motor 61 is arranged, the external thread rod 62 being fixed on secondary tuning drive motor output shaft, has
The flexible slide bar 63 for the inner bolt hole being adapted to external thread rod and the transmission shackle member 64 that flexible slide bar outer end is set；Transmission card
The two side ends of fitting 64 are respectively provided with a card slot 641.
The present embodiment can drive two external equipments to rotate using two card slots are synchronous.
(application examples 1)
The present embodiment is a kind of Intelligent Underwater Robot made of above-described embodiment 1, as shown in Fig. 2 to Fig. 7, including
Shell 1, the photographing module being built in shell and driving direction are relative to the adjustable tuning blade driving mechanism 3 of shell.
The global shape of shell is incandescent lamps blister, and the lower part of shell is equipped with transparent hemispherical observation window 11；Camera shooting
Module includes the camera, cradle head mechanism and headlamp being built in shell.The bottom of cradle head mechanism is arranged in camera, camera shooting
Always the transparent wall body of face hemispherical observation window in head rotation process.
Tuning blade driving mechanism 3 includes two blade drivers 4 being rotatably arranged on housing exterior walls, for synchronous belt
The homophony that dynamic two blade drivers rotate in principal plane is to driving mechanism 5 and for driving blade driver in secondary plane
The secondary tuning driving mechanism 6 of rotation；The pair tuning driving mechanism 6 is using tuning driving mechanism described in above-described embodiment 1；
Principal plane is perpendicular to secondary plane, and in the present embodiment, when shell is in the free state under only gravity, principal plane is water
Plane, secondary plane are vertical guides.
The top of shell is equipped with upper cover 13, and two blade drivers are disposed side by side on the roof of upper cover；Each blade driving
Device 4 includes sealing room 41, the power supply being arranged in sealing room, the blade 43 being rotatably arranged on sealing room, setting in sealing room
The blade drive motor for protecting the protective cover 44 of blade with being arranged in sealing room on outer wall；It seals room and is equipped with seal chamber
With mounting portion 47, power supply and blade drive motor are fixed in seal chamber；
Mounting portion is equipped with driving section 48 and rotation section 49；Driving section 48 includes the transmission protrusive board being fixed on mounting portion
481；Rotation section 49 includes equipped with the axle mount for limiting the slideway portion 491 of slide opening 492, being slidably arranged in limit slide opening
493, the shaft 494 that is arranged on axle mount and two bullets for being arranged in limit slide opening and being located at axle mount two sides
Spring 495；One end of each spring is connected on axle mount, and the other end of each spring is connected on a side of limit slide opening
I.e. in slideway portion, to provide reseting elasticity for axle mount.In the present embodiment, the shape for sealing room is tubulose, seals room
Center line and limit slide opening center line clamping formed acute angle be 45 degree.
In the present embodiment, slideway portion 491 is equipped with the sliding slot 4911 that one has opening and one is opened for blocking the sliding slot
The nut 4912 of mouth blocks sliding slot to form the limit slide opening 492 after nut twist-on is fixed on sliding slot opening；It is described
Axle mount 493 include and limit the slider body portion 4931 of slide opening adaptation, be arranged in slider body portion two sides for preventing
The two anticreep projected boards 4932 only slipped from limit slide opening, two for retaining spring being arranged on slider body determine
Position boss portion 4933 and the axis hole 4934 for shaft to be arranged；Each spring is connected to one end on axle mount and is set in phase
It answers in a positioning convex platform portion.This structure makes axle mount be abutted and be centrally positioned by two springs, and can be outside
Some spring is compressed under power effect to slide towards the spring direction.
Homophony to driving mechanism 5 include homophony to drive motor 51, master of the homophony on drive motor output shaft is set
Moving gear 52, two driven gears 53 that driving gear two sides are set, the drive rod 54 being arranged on each driven gear and
The bracket 55 being connected with each drive rod；Each holder pivots are arranged on housing exterior walls, and the shaft of each blade driver rotates setting
On a corresponding bracket；When homophony is rotated to drive motor, rotated by two driven gears of driving gear synchronous drive, into
And by two drive rod synchronous drives, two holder pivots, to realize two blade drivers of synchronous drive around respective biography
Lever reciprocating rotation；Since each blade driver can only realize homophony to driving mechanism in principal plane reciprocating rotation at this time
Two blade driver reciprocating rotations in principal plane of synchronous drive.
Secondary tuning driving mechanism 6 includes setting secondary tuning drive motor 61 in the housing, is fixed at secondary tuning and drives
External thread rod 62 on dynamic motor output shaft has and the flexible slide bar 63 of the inner bolt hole of external thread rod adaptation and setting are being stretched
The transmission shackle member 64 of contracting slide bar outer end；The middle of two blade drivers is arranged in flexible slide bar, transmission shackle member 64
Two side ends are equipped with two card slots 641 on the transmission protrusive board 481 for being set in two blade drivers；Shell is equipped with sealing
Slide opening 12, each flexible slide bar are located in corresponding sealing slide opening, and shell is stretched out in the outer end of flexible slide bar；When secondary tuning drives horse
Up to when rotation, flexible slide bar is driven to reciprocatingly slide along sealing slide opening by external thread rod；The center line of flexible slide bar is in secondary plane
On namely flexible slide bar in secondary plane along sealing slide opening reciprocatingly move.
When the present embodiment is in original state, as shown in Fig. 2 to Fig. 3, when flexible slide bar is in a certain predeterminated position,
Homophony is rotated to drive motor, and two blade drivers of synchronous drive are rotated around respective transmission shaft, and each protrusive board that is driven is with paddle
When leaf driver rotates, removed in the card slot of the embeddable transmission shackle member or from card slot, namely be driven shackle member at this time
It can't interfere rotation of the blade driver on principal plane；Homophony realizes two blade drivings of drive to drive motor at this time
Device is rotated in principal plane synchronous reciprocating, such as two blade drivers can be turned to position shown in Fig. 6 from position shown in Fig. 2
It sets.
When in the card slot for being driven protrusive board insertion transmission shackle member, homophony stops operating to drive motor, secondary tuning driving
Motor starting drives corresponding flexible slide bar to inside contract by external thread rod, namely drives corresponding blade driver around each rotation
Axis rotation, can turn to position shown in Fig. 7 from position shown in Fig. 2 for blade driver, and secondary tuning drive motor is realized at this time
Synchronous drive two blade drivers are rotated in secondary flatness and reciprocator.
The present embodiment also has the cleaning agency 7 for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 71, setting in the housing for drive semi-circular support plate reciprocally swinging cleaning drive motor, be fixed at
The cleaning brush 72 of semi-circular support plate inner wall uplink；The output shaft for cleaning drive motor stretches out shell and is fixed at semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on shell by pin shaft；Cleaning brush preferably uses elastic gum
Skin or hairbrush are made；It cleans drive motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush brush
Except dirty on hemispherical observation window outer wall.
In the present embodiment, the power direction that the blade in tuning blade driving mechanism provides can change relative to shell,
To realize more complicated shift action.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.And the obvious changes or variations that these connotations for belonging to the utility model are extended out still fall within it is practical
Novel protection scope.
Claims (1)
1. a kind of tuning driving mechanism for Intelligent Underwater Robot, it is characterised in that: including be arranged secondary tuning drive motor,
The external thread rod that is fixed on secondary tuning drive motor output shaft has and the flexible cunning of the inner bolt hole of external thread rod adaptation
Bar and the transmission shackle member that flexible slide bar outer end is set；The two side ends of transmission shackle member are respectively provided with a card slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820496519.7U CN208412073U (en) | 2018-04-08 | 2018-04-08 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820496519.7U CN208412073U (en) | 2018-04-08 | 2018-04-08 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208412073U true CN208412073U (en) | 2019-01-22 |
Family
ID=65119675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820496519.7U Expired - Fee Related CN208412073U (en) | 2018-04-08 | 2018-04-08 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208412073U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583832A (en) * | 2018-04-08 | 2018-09-28 | 殷红平 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
| CN114044114A (en) * | 2021-10-18 | 2022-02-15 | 中国舰船研究设计中心 | Support assembly for rotation of spherical cabin of submersible |
-
2018
- 2018-04-08 CN CN201820496519.7U patent/CN208412073U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583832A (en) * | 2018-04-08 | 2018-09-28 | 殷红平 | A kind of tuning driving mechanism for Intelligent Underwater Robot |
| CN114044114A (en) * | 2021-10-18 | 2022-02-15 | 中国舰船研究设计中心 | Support assembly for rotation of spherical cabin of submersible |
| CN114044114B (en) * | 2021-10-18 | 2024-05-28 | 中国舰船研究设计中心 | Supporting component for rotation of spherical cabin of submersible |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208412073U (en) | A kind of tuning driving mechanism for Intelligent Underwater Robot | |
| CN208344514U (en) | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction | |
| CN208291452U (en) | A kind of Intelligent Underwater Robot | |
| CN208530824U (en) | A kind of blade driver for Intelligent Underwater Robot | |
| CN208530818U (en) | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction | |
| CN101546092B (en) | Dustproof cover structure for lens | |
| CN207956005U (en) | A kind of underwater robot with tuning blade driving mechanism | |
| CN108750049A (en) | A kind of spherical underwater robot | |
| CN108583831A (en) | A kind of Intelligent Underwater Robot | |
| CN208325588U (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot | |
| CN208559721U (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot | |
| CN108583832A (en) | A kind of tuning driving mechanism for Intelligent Underwater Robot | |
| CN108639291A (en) | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction | |
| CN108045534A (en) | A kind of orientation blade driving mechanism for universal robot | |
| CN108394544A (en) | A kind of blade driver for Intelligent Underwater Robot | |
| CN108639290A (en) | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction | |
| CN207972772U (en) | A kind of universal underwater robot | |
| CN108408008A (en) | A kind of universal driving mechanism for underwater robot | |
| CN108372922A (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot | |
| CN207972773U (en) | A kind of orientation blade driving mechanism for universal robot | |
| CN208069994U (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot | |
| CN108372923A (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot | |
| CN108622348A (en) | A kind of underwater robot that can be driven with any angle | |
| CN108177751A (en) | A kind of tuning blade driving mechanism for universal robot | |
| CN108583835A (en) | A kind of tuning blade driving mechanism for Intelligent Underwater Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190122 Termination date: 20210408 |